closed loop speed position manual for fbl-2360

4 years 1 month ago #29532436 by Erik
I'm testing scripts on my fbl-2360 but the ones in the nextgen manual don't work (there is no online manual for my controller???) ...also i don't see closed loop speed position modes described anywhere.

But even commands for open loop don't work on my controller.

example !G 1 100 makes both my motors turn (i have motor1 in open loop and motor2 in closed loop now for testing).

And what is this example in the manual supposed to mean???

Syntax: !G [nn] mm
Advanced Digital Motor Controllers User Manual 169
Runtime Commands
Where: nn = motor channel
mm = command value
Examples: G 1 500: Why is there no !G ? Did the writer of the manual forget the ! ??? Please tell me i'm wrong....

I'm studying the manuals because i want to become an expert in programming my robot but with examples like this i give up already. And there even is no manual for my controller at all??

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4 years 1 month ago - 4 years 1 month ago #29532438 by niko
Erik,

If you are in mixed mode, channel 1 is throttle for both motors and channel 2 is steering.

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4 years 1 month ago #29532439 by Erik
Yes i know but i was testing it in separate mode with one motor in closed loop and the other in open loop.

I didn't test it with the improved firmware yet.

But where can i read/learn about scripting for the closed loop mode speed/position? It's not mentioned anywhere even not in the manuals for nextgen controllers...does the fbl-2360 belong to them as well? I want to program the controller and let the robot drive around alone with the laser distance sensor.

I also tried some other motorcommands but got runaway motors while my speed was set to 10 rpm and that configuration worked well, only had motors running in opposit directions (which is fixed now). Before i waste more time i would like to read a real manual which is for my controller. If i get strange behaviour i have no idea if i do something wrong, the manual is wrong or the controller has issues...

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4 years 1 month ago #29532440 by niko
Sections 15 and 16 of the user manual give all the details you might need and apply for all of our controllers including FBL2360.

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4 years 1 month ago #29532441 by Erik
My controller is in separate mode.
When i move 1 slider only 1 motor turns.
When i give !G 1 1000 command only 1 motor turns
after that When i give !G 2 1000 command both motor turn!
after that When i give !G 1 1000 again both motors turn!

Then i move 1 slider again, 1 motor turns.
Then i give 1 motorcommand again, 1 motor turns.
Then i change the motorcommand to the other motor, both motors turn!

Work to do boys....

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4 years 1 month ago - 4 years 1 month ago #29532442 by Erik
Okay, now my controller is in mixed mode 3, closed loop speed position.

When i give !G 1 1000 both motors turn same direction.
When i give !G 2 1000 both motors turn same direction

I reset the controller

Now it works good in mixed mode, sliders and motorcommands still good....i'll reset again....

mixed mode works good now with slider and motorcommands but separate mode still has the same issue.....What can this be??

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4 years 1 month ago - 4 years 1 month ago #29532443 by Erik

niko wrote: Sections 15 and 16 of the user manual give all the details you might need and apply for all of our controllers including FBL2360.


Then you tell me where the closed loop speed position mode is described!? The !P commands don't work or all do the same when they work.

The !P commands all give the same reaction and the !H1 makes the motor running abrubt (no accellerationdelay or nothing) go full speed, stop very abrubt (i heard the housing crack again) and then the overvolt light burns....

Nothing works like it should, i'm in closed loop speed/position mode now, separate mode...what do i do wrong or is this thing crazy again?

G - Go to Speed or to Relative Position
G is the main command for activating the motors. The command is a number ranging -
1000 to +1000 so that the controller respond the same way as when commanded using
Analog or Pulse, which are also -1000 to +1000 commands. The effect of the command differs
from one operating mode to another.
In Open Loop Speed mode the command value is the desired power output level to be
applied to the motor.
In Closed Loop Speed mode, the command value is relative to the maximum speed that is
stored in the MXRPM configuration parameter.
In Closed Loop Position Relative and in the Closed Loop Tracking mode, the command is
the desired relative destination position mode.
The G command has no effect in the Position Count mode.
In the Torque mode, the command value is the desired Motor Amps relative to the Amps
Limit configuration parameters
Syntax: !G [nn] mm


What is the command to let my motor1 in separate mode closedloop speed position go to hall position 1000???? I tried them all but nothing works.

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4 years 1 month ago #29532444 by niko

Erik wrote: My controller is in separate mode.
When i move 1 slider only 1 motor turns.
When i give !G 1 1000 command only 1 motor turns
after that When i give !G 2 1000 command both motor turn!
after that When i give !G 1 1000 again both motors turn!

Then i move 1 slider again, 1 motor turns.
Then i give 1 motorcommand again, 1 motor turns.
Then i change the motorcommand to the other motor, both motors turn!

Work to do boys....


Looks like you have the watchdog disabled. When you are in run tab, utility sends periodically the G command for each motor according to sliders' value. When you are in console tab with watchdog disbled you send once the command and the command stays forever.

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4 years 1 month ago #29532445 by niko
P command is only for closed loop count position mode.
H command is Load Home Counter for the encoder (!!!).

Both have nothing to do with closed loop speed position. For this mode use G command, and you can also use S command with the beta firmware we sent you.

Closed Loop Speed position is in the draft manual Cosma sent you on October 9th (section 9).

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4 years 1 month ago #29532447 by Erik

niko wrote: P command is only for closed loop count position mode.
H command is Load Home Counter for the encoder (!!!).

Both have nothing to do with closed loop speed position. For this mode use G command, and you can also use S command with the beta firmware we sent you.

Closed Loop Speed position is in the draft manual Cosma sent you on October 9th (section 9).


1-First the command-safety watchdog for rs232 is set to 1000 ms,( i never changed )it so that means enabled right?

2- H - Load Home Counter
This command loads the Home count value into the Encoder or Brushless Counters.

I have brushless motors and the terms encoders/hall sensors are used all the time in the manuals as being the same devices for counting. Just like "pole-pairs" and "number of poles" are used to describe the same thing in the manuals.

3- Cosma didn't send me any draft manual on 9 october, ....can you send it again?? Why is that manual not in the documentation section on the website anyway?

4-S-command is for velocity and again the speed position mode is NOT mentioned in that function. i can copy the text from the manual if you like but it's not mentioned so i wouldn't have used it...i want to read about speed position mode since that's what i'm using.

But what is the command i can use to let my motors go to a certain hall-position? That's what i need to program it and i would like to play with it. Can't find it in the manuals online...can you give me an example so my motor goes to hall-position 1000 by the speed i set in closed loop mode?

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